{"action":"created","issue":{"url":"https://api.github.com/repos/paparazzi/paparazzi/issues/2069","repository_url":"https://api.github.com/repos/paparazzi/paparazzi","labels_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/2069/labels{/name}","comments_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/2069/comments","events_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/2069/events","html_url":"https://github.com/paparazzi/paparazzi/pull/2069","id":232255638,"number":2069,"title":"Add Gazebo simulation to NPS","user":{"login":"tomvand","id":5869151,"avatar_url":"https://avatars0.githubusercontent.com/u/5869151?v=3","gravatar_id":"","url":"https://api.github.com/users/tomvand","html_url":"https://github.com/tomvand","followers_url":"https://api.github.com/users/tomvand/followers","following_url":"https://api.github.com/users/tomvand/following{/other_user}","gists_url":"https://api.github.com/users/tomvand/gists{/gist_id}","starred_url":"https://api.github.com/users/tomvand/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tomvand/subscriptions","organizations_url":"https://api.github.com/users/tomvand/orgs","repos_url":"https://api.github.com/users/tomvand/repos","events_url":"https://api.github.com/users/tomvand/events{/privacy}","received_events_url":"https://api.github.com/users/tomvand/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":3,"created_at":"2017-05-30T13:37:07Z","updated_at":"2017-06-13T19:27:28Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/paparazzi/paparazzi/pulls/2069","html_url":"https://github.com/paparazzi/paparazzi/pull/2069","diff_url":"https://github.com/paparazzi/paparazzi/pull/2069.diff","patch_url":"https://github.com/paparazzi/paparazzi/pull/2069.patch"},"body":"This pull request adds Gazebo 7/8 as a Flight Dynamics Model for NPS. Unlike JSBsim, Gazebo can provide a 3D environment and camera sensors. The video_thread module has been modified so that Gazebo's camera images can be used during simulation. This means that it is now possible to perform closed-loop simulations with vision-based control schemes.\r\n\r\nChanges:\r\n- Addition of Gazebo FDM\r\n  - conf/modules/fdm_gazebo.xml\r\n  - sw/simulator/nps/nps_fdm_gazebo.cpp\r\n  - conf/Makefile.nps\r\n- Modification of video_thread_nps and pc_sim board to simulate cameras\r\n  - sw/airborne/boards/pc_sim.h\r\n  - sw/airborne/modules/computer_vision/video_thread_nps.c\r\n  - sw/airborne/modules/computer_vision/video_thread_nps.h\r\n  - sw/airborne/modules/computer_vision/viewvideo_nps.c\r\n- Example world and model for Gazebo\r\n  - conf/simulator/gazebo/models/ardrone/model.config\r\n  - conf/simulator/gazebo/models/ardrone/ardrone.sdf\r\n  - conf/simulator/gazebo/world/ardrone.world\r\n- Example files for Paparazzi\r\n  - conf/airframes/examples/ardrone2_gazebo.xml\r\n  - conf/conf_example.xml\r\n- Changed .xml files to allow compilation for nps\r\n  - conf/modules/cv_colorfilter.xml\r\n  - conf/modules/video_rtp_stream.xml\r\n\r\nKnown issues:\r\n- Rotorcraft only, control surfaces are not yet supported.\r\n- AHRS/INS need to be bypassed as these do not yet function correctly. Probable causes are the lack of atmospheric measurements and/or incorrect magnetometer readings from Gazebo.\r\n- Video streaming might not work correctly, see issue [2068](https://github.com/paparazzi/paparazzi/issues/2068).\r\n- Starting from version 8, Gazebo has an atmospheric model incl. wind, drag, lift etc.. This is not used yet.\r\n\r\nDemo:\r\n1. Install gazebo 7 or 8: `sudo apt-get install gazebo8 libgazebo8-dev`.\r\n2. Run ./start.py to select conf/conf_example.xml and control_panel_example.xml\r\n3. Select the ardrone_gazebo aircraft, build for nps and start the simulation.\r\n4. Run `gzclient` in a new terminal window to view the simulation.\r\n5. Control the UAV using the GCS as usual.\r\n6. Connect to the video RTP stream as described on the [wiki](https://wiki.paparazziuav.org/wiki/AR_Drone_2#Option_1:_Simple_low_quality_MJPEG_over_RTP)\r\n\r\nMore usage information can be found in conf/modules/fdm_gazebo.xml."},"comment":{"url":"https://api.github.com/repos/paparazzi/paparazzi/issues/comments/308222631","html_url":"https://github.com/paparazzi/paparazzi/pull/2069#issuecomment-308222631","issue_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/2069","id":308222631,"user":{"login":"tomvand","id":5869151,"avatar_url":"https://avatars0.githubusercontent.com/u/5869151?v=3","gravatar_id":"","url":"https://api.github.com/users/tomvand","html_url":"https://github.com/tomvand","followers_url":"https://api.github.com/users/tomvand/followers","following_url":"https://api.github.com/users/tomvand/following{/other_user}","gists_url":"https://api.github.com/users/tomvand/gists{/gist_id}","starred_url":"https://api.github.com/users/tomvand/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tomvand/subscriptions","organizations_url":"https://api.github.com/users/tomvand/orgs","repos_url":"https://api.github.com/users/tomvand/repos","events_url":"https://api.github.com/users/tomvand/events{/privacy}","received_events_url":"https://api.github.com/users/tomvand/received_events","type":"User","site_admin":false},"created_at":"2017-06-13T19:27:28Z","updated_at":"2017-06-13T19:27:28Z","body":"Glad to hear it :). Fixed the .xml files in the latest commit."}}
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